Autonomous robotic navigation and pipe inspection: A simulation approach
An important task for an autonomously functioning robot in the nuclear industry is pipe inspection in a nuclear power plant. A typical scenario for such a robot: The robot enters a highly radioactive area to perform several inspection and cleanup tasks. Because the robot is functioning in a radioactive environment, it must perform these tasks in a limited time. As much information as possible should be extracted in the shortest time (i.e., with the fewest number of snapshots). At the University of Florida`s Mobile Robotics for Hazardous Environments Laboratory, a project is under way to build an autonomous robot that will function in a go-stop-process-go manner in a nuclear environment. The system follows the spirit of Thayer et al., but the difference is that it functions autonomously. This paper discusses a simulation of this system.
- OSTI ID:
- 75912
- Report Number(s):
- CONF-940602-; ISSN 0003-018X; TRN: 95:003867-0083
- Journal Information:
- Transactions of the American Nuclear Society, Vol. 70; Conference: 35. annual meeting of the American Nuclear Society, New Orleans, LA (United States), 11-16 Jun 1994; Other Information: PBD: 1994
- Country of Publication:
- United States
- Language:
- English
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